This topic contains the history of best hexapod position to align the CalUnitSystem to LUCI and LGSW

• X, Y, Z, Rx, Ry, Rz are the hexapod absolute position
• CalUnit Pos_ABS is the absolute position of the CalUnit arm
• Board X,Y,Z is the absolute position of the FLAO board
• RO X,Y are the coordinates to dial in the Arbitrator GUI to preset the system automatically (instead of moving manually the FLAO board)

DX side CalUnitSystemDx

Date	X	Y	Z	Rx	Ry	CalUnit Pos_ABS	Board X	Board Y	Board Z	R0 X	R0 Y	LUCI Rot	Notes
20180220	-2.11	-2.69	0.50	-106	22		-74.75	-50.5	55.7	1.43	-2.7	-90	This should be valid for all LUCI rot angles.
20171205	-3.24	-2.88	1.13	-68.66	-196.96	58.54	-74.75	-50.5	55.7	1.43	-2.7	-90	This should be valid for all LUCI rot angles.
20171017	-3.38	-2.95	1.14	-103	-255	58.54	?	?	?	0	0	210
20170429	-2.04	-4.58	1.25	255	-18		-73.3	-47.7	55.7	0	0	210
20170306	-2.41	-4.03	0.95	147	-89
20170305	-3.59	-2.54	0.95	-142	-318
20161205	-3.94	-2.36	0.73	-174	-384
20161018	-1.60	-4.18	1.18	181.5	79
20160515	-5.46	-7.87	0.88	211	78		-74.5	-56.5	52.8
20150704	-1.87	-6.90	-1.96	-250	110	-	-72.6	-55.45	56.5
20150502	-1.00	-6.00	-2.10	-374	214	-	-75.4	-54.2	40.0
20150501	-2.94	-8.18	-2.08	-44.0	62.0	58.52	-71.5	-55.0	45.0
20150501	-2.94	-8.18	-2.08	-150	12		-75.0	-53.5	45.0
20150428	-2.77	-8.90	-2.00	-51.0	103.0	58.52	-	-	-				After CalUnitSystemDx collision
20150223	-2.52	-3.77	4.33	-380	110	58.72	-72.4	-45.4	42.0
20150222	-2.52	-3.77	4.35	-369	111	58.72	-71.8	-55.4	47.6
20150221	-2.52	-3.77	4.35	-471	56
20141106	-3.02	-6.27	4.38	-247	32
20141105	-3.02	-6.27	4.38	-244	30
20141104	-3.02	-6.27	4.48	-239	32

SX side CalUnitSystemSx

Date	X	Y	Z	Rx	Ry	CalUnit Pos_ABS	Board X	Board Y	Board Z	R0 X	R0 Y	LUCI rot	Notes
20180221	3.64	1.99	-0.74	149.9	-126.75		-70.85	-46.078	42.00	-8.4	2.2	341
20171019	3.35	0.38	-0.89	287	-143		-68.6	-47.7	42.0	-8.4	2.2	341
20170509	4.8	2.15	-0.2	50	78.8		-72.7	-45.9	52.0	-6	4	341
20170503	5.95	2.56	-0.12	-15	207		-71.3	-46.4	52.0	-6	4	341
20170429	5.30	2.34	-0.12	28	82
20170304	5.87	2.18	-0.12	60	193								After remove Coma
20170302	4.72	2.18	-0.3	66	68
20161028	4.42	2.75	-0.3	-45	10
20160514	3.37	0.74	-0.88	128	-200		-74.3	-50.5	52.0
20160311	4.65	1.77	-0.71	8	-107		-74.3	-50.5	52.0

Howto configure hexapod software

See HowToEnableHexapodOffload

About configuration on TCS side

There is a DXSMRETROREFFCollimation.dat and SXSMRETROREFFCollimation.dat somewhere in the TCS about similar stuff. Ask JHill about that to fill this section if needed.

-- LorenzoBusoni - 18 Nov 2016